Research On Multi-UAV Collaboration Technology For Heterogeneous Reconnaissance Mission

The coordinated execution of reconnaissance tasks by multiple unmanned aerial vehicles(UAVs)can effectively improve the efficiency and quality of reconnaissance,making it an important way of low-altitude close-range reconnaissance in future unmanned combat.The importance of different reconnaissance tasks tends to vary,and their task values also differ,so it is necessary to optimize the allocation of UAV resources in a reasonable way to improve overall reconnaissance efficiency.This paper mainly focuses on three aspects: task scheduling optimization,auxiliary incentive optimization,and time resource optimization.It uses game theory to study the multi-UAV collaborative optimization technology for heterogeneous reconnaissance tasks,and the main research contents are as follows:(1)Regarding the task scheduling optimization problem in multi-UAV cooperative reconnaissance with different performance,the design of virtual preferences for the reconnaissance tasks and UAVs is carried out,and the task scheduling optimization problem is modeled as a matching game model.In the matching process between each heterogeneous reconnaissance task and UAV,a fairness-based task matching algorithm is proposed to achieve reasonable scheduling optimization of UAV’s finite resources.Simulation results show that the proposed algorithm can better match appropriate UAVs for each task,improving the utilization efficiency of UAV resources.(2)Regarding the cooperative auxiliary problem in the maneuvering reconnaissance scenario with sudden emergencies,a cooperative incentive mechanism is designed to stimulate the assisting behavior of auxiliary UAVs,and the utility functions of both assisted UAVs and auxiliary UAVs are designed respectively.The time resource optimization problem of auxiliary UAVs is modeled as a Stackelberg game model,and the optimal time resource allocation plan for auxiliary UAVs is obtained by solving the game model,and further game modeling and analysis are carried out for the multi-UAV collaborative expansion scenarios.Simulation results show that the designed incentive mechanism can effectively improve the utility of the multiUAV reconnaissance system.(3)Regarding the multi-UAV cooperative resource optimization problem in the reconnaissance system,a UAV cooperative reconnaissance alliance is formed according to the heterogeneous characteristics of the reconnaissance tasks,and the time resource optimization problem of multiple UAVs is modeled as alliance game model.The utility functions of the alliance and the entire multi-UAV reconnaissance system are designed,and the corresponding overlapping alliance formation algorithm is proposed,which realizes the joint optimization of heterogeneous task allocation and collaborative auxiliary resource scheduling.Simulation results show that the proposed algorithm can achieve joint optimization of the allocation of heterogeneous tasks and the scheduling of collaborative auxiliary resources.